Driving support system for agricultural machinery

Abstract

This travel assistance system (S) for an agricultural machine (1) comprises: a position detection device (40) which detects the position of the agricultural machine (1); a reference creation unit (53j) which is positioned in front of the agricultural machine (1) and creates a determination reference (X) for determining turning of the agricultural machine (1); an area discrimination unit (53l) which discriminates between a first area (e1), which is a region where the agricultural machine (1) circulates in a predetermined circulation direction and where a work device (2) performs work, and a second area (e2), which is adjacent to the first area (e1) in a field (H) and into which the agricultural machine (1) is prohibited in advance from intruding; and a first setting unit (53m) which, when the determination reference (X) is positioned in the second area (e2), sets a first turning portion (CR1) between the agricultural machine (1) and the second area (e2) where the agricultural machine (1) will turn to the first area.

Description

[Technical field]

[0001] The present invention relates to a driving assistance system for agricultural machinery such as a tractor. [Background technology]

[0002] Conventionally, as disclosed in Patent Document 1, when performing transplanting work in a field, an agricultural machine equipped with a transplanting machine as a working device leaves a headland of the field and makes a back and forth planting run around the inside of the headland, and then makes a circular planting run around the remaining headland. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication "JP Patent Publication No. 2006-204174" Summary of the Invention [Problem to be solved by the invention]

[0004] However, depending on the direction in which the agricultural machinery moves, the turning direction, and the route it takes, there is a risk that the agricultural machinery will enter areas where entry is prohibited in advance, such as areas where transplanting has already been completed (already cultivated land), and damage the already cultivated land.

[0005] The present invention has been made to solve such problems with the conventional technology, and aims to provide a driving support system for agricultural machinery that enables the agricultural machinery to travel around a field and work efficiently while avoiding traveling in areas where entry is prohibited. [Means for solving the problem]

[0006] An agricultural machine travel assistance system according to one embodiment of the present invention includes a position detection device that detects the position of an agricultural machine to which a working implement can be attached, a criterion creation unit that is located in front of the agricultural machine and creates judgment criteria for determining whether the agricultural machine should turn based on the position of the agricultural machine detected by the position detection device, a first area that is an area of ​​the field where the agricultural machine rotates in a predetermined circular direction and where the working implement performs work, and a second area of ​​the field that is adjacent to the first area and where entry of the agricultural machine is prohibited in advance. a third area of ​​the field adjacent to the first area and into which agricultural machinery is permitted to enter; and when the judgment criterion is located in the second area, a first turning section is set between the agricultural machine and the second area and in the first area, where the agricultural machine turns. When the judgment reference is located in the third area, a second turning section is set in front of the agricultural machine and in the third area, through which the agricultural machine turns. and a first setting unit for setting the first and second values.

[0009] In addition, the judgment criterion is a virtual line extending from the position of the agricultural machine detected by the position detection device to ahead of the agricultural machine, and the first setting unit sets a first turning section between the agricultural machine and the second area and in the first area when the virtual line intersects with a first boundary, which is the boundary between the first area and the second area, and sets a second turning section in front of the agricultural machine and in the third area when the virtual line intersects with a second boundary, which is the boundary between the first area and the third area.

[0010] In addition, the length from the front of the agricultural machine to the tip of the imaginary line is approximately twice the working width of the working implement.

[0011] Also, The agricultural machine travel assistance system includes a position detection device that detects the position of the agricultural machine to which a working implement can be attached, a criterion creation unit that is located in front of the agricultural machine and creates a judgment criterion for judging the turning of the agricultural machine based on the position of the agricultural machine detected by the position detection device, an area discrimination unit that discriminates between a first area, which is an area of ​​the field where the agricultural machine rotates in a predetermined circular direction and where the working implement performs work, and a second area of ​​the field that is adjacent to the first area and where entry of the agricultural machine is prohibited in advance, and a first setting unit that sets a first turning section between the agricultural machine and the second area and in the first area where the agricultural machine turns when the judgment criterion is located in the second area, The second area is an area of ​​the field where the implement has completed work.

[0012] In addition, agricultural machinery driving support systems a position detection device that detects the position of an agricultural machine to which a working implement can be attached; A position acquisition unit capable of acquiring a plurality of positioning points of an agricultural machine detected by a position detection device, a field showing a farm field, a display device capable of displaying a plurality of created points based on the positioning points on the field, and a driving line for a circuit passing through the plurality of created points. Line Generation Section And, Line Generation Sectioncreates multiple connection lines that are straight lines connecting adjacent creation points among multiple creation points of the driving line. Connection Line Generation and, a criterion creation unit which is located in front of the agricultural machine and creates a judgment criterion for judging the turning of the agricultural machine based on the position of the agricultural machine detected by the position detection device; an area discrimination unit which discriminates between a first area which is an area of ​​the field where the agricultural machine rotates in a predetermined circular direction and where the working implement performs work, and a second area which is adjacent to the first area of ​​the field and where the agricultural machine is prohibited from entering in advance; and a first setting unit which, when the judgment criterion is located in the second area, sets a first turning section which is between the agricultural machine and the second area and in which the agricultural machine turns in the first area. The system has a second setting unit that extracts a pair of adjacent connection lines from the multiple connection lines, which are adjacent to each other, have different extension directions, and form an angle equal to or greater than a judgment value, and sets a turning section where the agricultural machine performs a turning operation at a creation point common to the extracted pair of connection lines.

[0013] Further, the reference creating unit creates a judgment reference at a position in front of the agricultural machine and outside the outer periphery of the turning trajectory of the agricultural machine.

[0014] The agricultural machine also includes a driving support system for the agricultural machine. Effect of the Invention

[0015] According to the agricultural machine driving support system described above, it is possible to allow the agricultural machine to travel around the field and perform work efficiently while avoiding driving through areas where entry is prohibited. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram of a driving support system for an agricultural machine. [Diagram 2] FIG. [Diagram 3] FIG. 1 is a diagram illustrating automatic driving of an agricultural machine. [Figure 4] FIG. 13 is a diagram showing an example of a field registration screen D1. [Figure 5A] FIG. 13 is a diagram showing how the contour of a farm field is calculated from positioning points. [Figure 5B] FIG. 13 is a diagram showing how the contour of a farm field is determined from inflection points. [Figure 5C] FIG. 1 is a diagram showing how to obtain the contour of a field from its edge. [Figure 6A] This is a diagram showing the creation of driving lines and unit work sections. [Figure 6B] FIG. 13 is a diagram illustrating an inner line. [Figure 6C] FIG. 6B is a diagram showing a travel line and a unit operation section different from those shown in FIG. 6A. [Figure 7] FIG. 13 is a diagram showing an example of a setting screen D2. [Figure 8] FIG. 13 is a diagram for explaining the creation of a creation point. [Figure 9] FIG. 13 is a diagram illustrating setting of a working point. [Figure 10] FIG. 13 is a diagram for explaining the judgment criteria (virtual line). [Figure 11A] FIG. 1 is a first diagram illustrating the setting of a first swivel section. [Figure 11B] FIG. 2 is a second diagram illustrating the setting of the first swivel section. [Figure 12A] FIG. 1 is a first diagram illustrating the operation of the working implement when the agricultural machine moves along a first rotating part. [Figure 12B] FIG. 5 is a second diagram illustrating the operation of the implement when the agricultural machine moves along the first rotating part. [Figure 13A] FIG. 1 is a first diagram illustrating the setting of a second swivel section. [Figure 13B] FIG. 2 is a second diagram illustrating the setting of the second swivel section. [Figure 14] 11 is a diagram illustrating the operation of the working implement when the agricultural machine moves on the second rotating part. FIG. [Figure 15A] 13 is a diagram illustrating a case where the second setting unit does not set a turning-back portion. FIG. [Figure 15B] 13 is a diagram illustrating a case where a second setting unit sets a turning portion. FIG. [Figure 16] FIG. [Figure 17] FIG. 11 is a block diagram of an agricultural machine according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0018] 1 shows a block diagram of a travel assistance system S for the agricultural machine 1 that assists the agricultural machine 1 in traveling when the agricultural machine 1 travels around a field H to perform work. In this embodiment, the travel assistance system S for the agricultural machine 1 creates a travel line L that allows the agricultural machine 1 to travel around the field H and efficiently perform work while avoiding traveling through an area e2 where entry is prohibited. The agricultural machine 1 travels around the field H based on the travel line L created by the travel assistance system S.

[0019] First, the agricultural machine 1 will be described. The agricultural machine 1 can be equipped with a working device 2, and is, for example, a tractor or a rice planter as shown in FIG. 16. Hereinafter, the travel support system S of the agricultural machine 1 of this embodiment will be described using a tractor as an example of the agricultural machine 1. As shown in FIG. 16, the tractor 1 includes a traveling vehicle 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. The rear wheels 7R may also be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can change the propulsive force of the traveling device 7 by changing the speed, and can also change the traveling device 7 between forward and reverse. The traveling vehicle 3 is provided with a cabin 9, and a driver's seat 10 is provided in the cabin 9.

[0020] As shown in Fig. 16, a lifting device 8 configured with a three-point link mechanism or the like is provided at the rear of the traveling vehicle 3. The working device 2 is detachable from the lifting device 8. By connecting the working device 2 to the lifting device 8, the working device 2 can be towed by the traveling vehicle 3. The working devices 2 include a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticide, a harvesting device for harvesting, a reaping device for reaping grass or the like, a spreading device for spreading grass or the like, a grass collecting device for collecting grass or the like, a shaping device for shaping grass or the like, and the like.

[0021] As shown in FIG. 1, the tractor 1 is equipped with a steering device 11. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the handle 11a, and an assist mechanism (power steering mechanism) 11c that assists the steering of the handle 11a. The assist mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 that is operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

[0022] Therefore, by operating the steering wheel 11a, the switching position and opening of the control valve 22 are switched in response to the steering wheel 11a, and the steering cylinder 23 extends or contracts to the left or right in response to the switching position and opening of the control valve 22, thereby changing the steering direction of the front wheels 7F. Note that the above-mentioned steering device 11 is an example, and is not limited to the above-mentioned configuration.

[0023] As shown in Fig. 2, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of a case (transmission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (lifts and lowers) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump 21 via a control valve 22. The control valve 22 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 8e.

[0024] A front end of the lower link 8b is supported on the rear lower part of the transmission 5 so as to be able to swing upward or downward. A front end of the top link 8c is supported on the rear part of the transmission 5 above the lower link 8b so as to be able to swing upward or downward. A lift rod 8d connects the lift arm 8a to the lower link 8b. A working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a rises and lowers, and the lower link 8b connected to the lift arm 8a via the lift rod 8d rises and lowers. This allows the lifting device 8 to be switched between a non-working position in which the working device 2 moves upward with the front part of the lower link 8b as a fulcrum, and a working position in which the working device 2 moves downward.

[0025] As shown in FIG. 1, the tractor 1 is equipped with a position detection device (positioning device) 40. The position detection device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 40 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position of the tractor 1 (e.g., latitude, longitude), that is, the vehicle position VP, based on the satellite signal. The position detection device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device that has an antenna and the like and receives a satellite signal transmitted from the positioning satellite, and is attached to the traveling vehicle 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the traveling vehicle 3, that is, the cabin 9. Note that the mounting location of the receiving device 41 is not limited to the above-mentioned embodiment.

[0026] The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 42 is provided in the traveling vehicle 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle 3.

[0027] 1, the tractor 1 is equipped with a control device 60. The control device 60 is a device that controls the traveling system and the work system of the tractor 1.

[0028] The control device 60 has an automatic driving control unit 61 that controls automatic driving of the tractor 1. The automatic driving control unit 61 is composed of electric and electronic circuits provided in the control device 60, programs stored in a CPU, etc. When automatic driving starts, the automatic driving control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along a predetermined planned driving route L. In addition, when automatic driving starts, the automatic driving control unit 61 controls the speed (vehicle speed) of the tractor 1 by automatically changing the gear stage of the transmission 5, the rotation speed of the prime mover 4, etc.

[0029] As shown in Fig. 3, when the deviation between the vehicle body position VP and the planned travel route L is less than a threshold value while the tractor 1 is traveling automatically, the automatic travel control unit 61 maintains the rotation angle of the steering shaft (rotation shaft) 11b. When the deviation between the vehicle body position VP and the planned travel route L is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned travel route L, the automatic travel control unit 61 rotates the steering shaft 11b so that the steering direction of the tractor 1 becomes the right direction. When the deviation between the vehicle body position VP and the planned travel route L is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned travel route L, the automatic travel control unit 61 rotates the steering shaft 11b so that the steering direction of the tractor 1 becomes the left direction.

[0030] In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle position VP and the planned travel route L. However, when the orientation of the planned travel route L differs from the orientation (vehicle orientation) K of the travel direction (travel direction) of the tractor 1 (traveling vehicle 3), that is, when the angle θg of the vehicle orientation K with respect to the planned travel route L is equal to or greater than a threshold value, the automatic travel control unit 61 may set the steering angle so that the angle θg becomes zero (the vehicle orientation K coincides with the orientation of the planned travel route L). In addition, the automatic travel control unit 61 may set the final steering angle in automatic steering based on the steering angle calculated based on the position (position deviation) and the steering angle calculated based on the orientation (orientation deviation). The setting of the steering angle in automatic steering in the above-described embodiment is an example and is not limited.

[0031] As described above, the control device 60 can cause the tractor 1 (traveling vehicle 3) to travel automatically.

[0032] The control device 60 can also perform manual lift control and automatic lift control of the lift device 8. The manual lift control is a control for lifting and lowering the working device 2 by the lift device 8 based on the operation of a lift switch 72 connected to the control device 60. Specifically, the lift switch 72 is provided around the driver's seat 10 and is a three-position switch. When the lift switch 72 is switched from the neutral position to one side, an up signal for lifting the lift device 8 (lift arm 8a) is input to the control device 60. When the lift switch 72 is switched from the neutral position to the other side, a down signal for lowering the lift device 8 (lift arm 8a) is input to the control device 60. When the control device 60 receives an up signal, it outputs a control signal to the control valve 22 to lift the lift device 8, and when it receives a down signal, it outputs a control signal to the control valve 22 to lower the lift device 8. In other words, the control device 60 can perform manual lift control for lifting and lowering the lift device 8 in response to manual operation of the lift switch 72 .

[0033] The automatic lift control is a control for automatically operating the lift device 8 to lift the working device 2 when the steering angle of the steering device 11 is equal to or greater than a predetermined value, for example, a steering angle corresponding to a turn. Specifically, a steering angle detection device 70 and a changeover switch 71 are connected to the control device 60. The steering angle detection device 70 is a device for detecting the steering angle of the steering device 11. The changeover switch 71 is a switch for switching between enabling and disabling the automatic lift control, and is a switch that can be switched ON / OFF. When the changeover switch 71 is ON, the automatic lift control is set to be enabled, and when the changeover switch 71 is OFF, the automatic lift control is set to be disabled.

[0034] When the automatic lifting / lowering control is enabled and the steering angle detected by the steering angle detection device 70 is equal to or greater than the steering angle corresponding to a turn, the control device 60 performs automatic lifting / lowering control to automatically raise the lifting device 8 by outputting a control signal to the control valve 22.

[0035] As described above, the control device 60 can perform control related to the tractor 1, such as manual lifting control and automatic lifting control. The automatic traveling control unit 61 (control device 60) may raise and lower the lifting device 8 in accordance with the planned traveling route L. In such a case, the planned traveling route L includes information related to raising and lowering the lifting device 8, and based on that information, the automatic traveling control unit 61 lowers the lifting device 8 on a route on which the tractor 1 travels straight and raises the lifting device 8 on a route on which the tractor 1 turns.

[0036] As shown in FIG. 1, the driving support system S of the tractor 1 includes a display device 50, a position acquisition unit 52a, a field registration unit 52b, and a field acquisition unit 52c.

[0037] The display device 50 is a driving support device provided near the driver's seat 10. The display device 50 includes a display unit 51, a display control unit 52, and a storage unit 54. The display unit 51 is composed of a liquid crystal panel, a touch panel, or other panel, and can display a field F indicating a farm field H. The display unit 51 can display various information related to the tractor 1 and the working device 2 in addition to information for supporting the driving of the tractor 1. The display control unit 52 is composed of electric and electronic components provided in the display device 50, a program stored in a storage unit 54 described later, and the like. The display control unit 52 causes the display unit 51 to display a screen that visualizes information stored in the storage unit 54. The storage unit 54 is composed of a non-volatile memory, etc., and stores various information related to the tractor 1 and the working device 2. The display device 50 is connected to devices of the tractor 1 by wire or wirelessly so as to be able to communicate with each other, and can transmit and receive information to and from each other. Specifically, for example, the display control unit 52 of the display device 50 and the control device 60 of the working device are connected to be able to communicate with each other.

[0038] 1, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are composed of electric and electronic components, a program incorporated in the display device 50, and the like. In this embodiment, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are shared by the display control unit 52 of the display device 50. Note that in this embodiment, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are shared by the display control unit 52 of the display device 50, but the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c may be included in an external server or the like capable of communicating with the display device 50, and the configuration is not limited to the above configuration.

[0039] The position acquisition unit 52a acquires a plurality of positioning points Pk (k: each positioning point Pk, k=1, 2, 3, k) when the tractor 1 goes around the field H. Specifically, the position acquisition unit 52a acquires a plurality of positioning points Pk when the tractor 1 goes around the field H based on the position of the tractor 1 (vehicle position VP) detected by the position detection device 40. In this embodiment, the position acquisition unit 52a can acquire a vehicle position VP including a plurality of positioning points Pk when the tractor 1 goes around the field H. Note that the position acquisition unit 52a only needs to acquire a plurality of positioning points Pk, and may be configured to acquire the position information of the plurality of positioning points Pk from a storage device such as a memory that stores the position information of the plurality of positioning points Pk in advance, and the acquisition method is not limited to the above-mentioned method.

[0040] The field registration unit 52b registers the contour C1 of a predetermined field H, for example, a position corresponding to the contour C1 of a predetermined field H, as a field F to be displayed by the display unit 51. As shown in Fig. 4, when the worker (driver) performs a predetermined operation on the display device 50, the display control unit 52 displays a field registration screen D1 on the display unit 51. The field registration screen D1 displays a field display section 100 showing the field F including the field H and the vehicle position VP of the tractor 1, and an information display section 101 showing field identification information such as the name (field name) of the field H and the field management number. In addition to image data showing the field H, position information such as latitude and longitude is associated with the field F. When the tractor 1 enters the field H and travels around the field H, the display control unit 52 displays the current vehicle position VP at the time the tractor 1 travels around on the field registration screen D1 based on the position information acquired by the position acquisition unit 52a from the position detection device 40.

[0041] When the tractor 1 finishes traveling around the field H and the registration button 102 displayed on the field registration screen D1 is selected, as shown in Fig. 5A, the field registration unit 52b creates a contour (shape) C1 of the field H based on the travel trajectory T obtained from the position information (vehicle body position VP) of the multiple positioning points Pk acquired by the position acquisition unit 52a, and registers the field F represented by the contour C1 together with the field identification information. Specifically, the storage unit 54 stores the field F indicating the contour (shape) C1 registered by the field registration unit 52b. That is, the storage unit 54 stores data indicating the field F and the contour C1 of the field H (data for representing a specific field H).

[0042] For convenience of explanation, the contour C1 may be referred to as the outer boundary line below. As shown in FIG. 5B, the field registration unit 52b may calculate an inflection point from the travel trajectory T indicated by the vehicle position VP and register the contour C1 connecting the inflection points as the field F of the field H, or as shown in FIG. 5C, the driver or the like may specify an end of the field H using a switch or the like provided on the tractor 1 when the tractor 1 goes around, and register the contour C1 based on the specified end as the field F. The field registration unit 52b may be configured to acquire information on the field F from a storage device such as a memory that stores information on the field F including the field H, and register the field H. The above-mentioned method of registering the field H is an example and is not limited. The contour C1 of the field H, i.e., the field F, may be data indicated by a position (latitude, longitude), data indicated by a coordinate system (X-axis, Y-axis), or data indicated by other expressions.

[0043] As described above, the display device 50 can use the field registration unit 52b to register a plurality of fields F. The field acquisition unit 52c acquires a field F indicating a predetermined field H from among the plurality of fields F when performing work or the like.

[0044] When the worker (driver) performs a predetermined operation on the display device 50, the field acquisition unit 52c displays a predetermined field selection screen (not shown) on the display unit 51 of the display device 50. The field selection screen displays a map of the fields H stored in the memory unit 54, or displays a list of the fields H. When the worker (driver) performs a predetermined operation on the display device 50, for example, one field H can be selected from the multiple fields H displayed on the field selection screen. When one field H is selected, the field acquisition unit 52c refers to the memory unit 54 and acquires the field F corresponding to the selected field H.

[0045] The travel support system S of the tractor 1 can create a travel line for the tractor 1 to travel around the field H. In this embodiment, the tractor 1 automatically travels along the travel line as a planned travel route L. Note that the travel line L may be any path for the tractor 1 to travel around the field H, and the tractor 1 may travel along the travel line L manually.

[0046] Specifically, as shown in FIG. 1, the travel assistance system S of the tractor 1 includes a line generating unit 52d, which generates headland work lines Ln (n: headland number [number of laps], n=1, 2, 3, n) for performing work on a headland (headland area) A1 of a field H as travel lines L to circulate, as shown in FIG. 6A. The line generating unit 52d is only required to generate at least the travel lines L for when the tractor 1 circulates the field H, and in this embodiment, the line generating unit 52d can generate inner lines LU that are travel lines L on the inside (inner area A2) of the headland area A1 in addition to the circulating lines (headland work lines) Ln that are travel lines L to circulate the field H. The line generating unit 52d is composed of, for example, electric and electronic components, a program incorporated in the display device 50, and the like. In this embodiment, the display control unit 52 of the display device 50 also serves as the line generating unit 52d.

[0047] In this embodiment, the line generating unit 52d is also used by the display control unit 52 of the display device 50, but the line generating unit 52d may be possessed by an external server or the like capable of communicating with the display device 50, and its configuration is not limited to the above configuration.

[0048] As shown in Fig. 6A, the circumnavigation line Ln is a travel line L along which the tractor 1 travels in the headland area A1, and the number of routes corresponds to the number of headlands A1 (the number of headlands) formed in the field H. In other words, when there are four headlands, the routes of the circumnavigation line Ln are four adjacent routes extending from the center of the field F toward the outside, as shown in Fig. 6A. When there are five headlands, the routes of the circumnavigation line Ln are five adjacent routes extending from the center of the field F toward the outside.

[0049] In the following description, the circuit lines Ln are described as the first circuit line L1, the second circuit line L2, the third circuit line L3,..., the n-th circuit line Ln (n=1, 2, 3...n) from the outermost circuit line Ln toward the innermost circuit line Ln. In Fig. 6A, the portion of the fourth circuit line L4 that overlaps with the inner line LU is omitted.

[0050] 6A and 6B, the inside line LU includes, for example, a straight portion LU1 connecting both longitudinal ends of the inside area A2 and a curved portion LU2 connecting adjacent straight portions LU1. That is, the tractor 1 traveling on the inside line LU travels back and forth between one end side and the other end side of the inside area A2, turns at the curved portion LU2, and moves from one straight portion LU1 to another adjacent straight portion LU1.

[0051] As shown in FIG. 1, the line generation unit 52d includes a setting acquisition unit 53a, a first generation unit 53b, a second generation unit 53c, a third generation unit 53d, a work point setting unit 53e, a direction acquisition unit 53f, a fourth generation unit 53g, a fifth generation unit 53h, and a sixth generation unit 53i.

[0052] The setting acquisition unit 53a acquires setting information related to the creation of the travel line L. When the operator (driver) performs a predetermined operation on the display device 50, the display control unit 52 displays a setting screen D2 as shown in FIG. 7. The setting screen D2 includes a headland number input unit 110, a first width input unit 111, a second width input unit 112, a third width input unit 113, and a route display unit 114. The headland number input unit 110 accepts input of the headland number. In the example shown in FIG. 6A and FIG. 7, the headland number is "4", and four routes are formed as the circular line Ln.

[0053] The first width input unit 111 receives input of the working width W1 of the working implement 2. As shown in Fig. 6C, the working width W1 is a width (work execution width) in which the working implement 2 performs work on the ground such as a farm field H.

[0054] The second width input unit 112 accepts input of an overlap width (first overlap width) W2, which is the width of overlap with the adjacent outer work section A3 on the circular line Ln, as shown in Fig. 6C. The third width input unit 113 accepts input of an overlap width (second overlap width) W3, which is the width of overlap with the adjacent inner work section A4 on the inner line LU, as shown in Fig. 6C.

[0055] The field F acquired by the field acquisition unit 52c is displayed on the route display unit 114. In addition, the route display unit 114 can display the created driving line L in the field F.

[0056] In this embodiment, the setting acquisition unit 53a acquires information entered into the setting screen D2 to acquire setting information regarding the creation of the driving line L, but it may also acquire information pre-stored in the memory unit 54, and the source of acquisition is not limited to the above configuration.

[0057] The first generating unit 53b associates the multiple positioning points Pk on the field F displayed by the display device 50. As shown in Fig. 8, the first generating unit 53b generates multiple creation points Qnk in the field F, for example, by shifting the multiple positioning points Pk toward the inside of the field H. The first generating unit 53b generates multiple creation points Qnk based on the multiple positioning points Pk acquired by the position acquiring unit 52a. In this embodiment, the multiple creation points Qnk include the multiple positioning points Pk and multiple creation points Qnk obtained by shifting the multiple positioning points Pk.

[0058] The multiple creation points Qnk are reference points in creating the route of the circuit line Ln. As shown in FIG. 8, the first generation unit 53b generates the creation points Qnk for each number of adjacent headlands (n=1, 2, 3, . . . n) based on the number of headlands and the shift width. In the following description, the first creation point Qnk, the second creation point Q2k, the third creation point Q3k, . . . the nth creation point Qnk are described in order from the outermost creation point Qnk toward the inner circuit line Ln. The first creation point Q1k corresponds (matches) with the multiple positioning points Pk. Also, for example, when the number of headlands is four, the first generation unit 53b first shifts the multiple positioning points Pk (the first creation point Q1k) inward by the shift width to generate the second creation point Q2k. The first generating unit 53b shifts the multiple positioning points Pk by twice the shift width, i.e., shifts the second created point Q2k inward by the shift width to generate a third created point Q3k. The first generating unit 53b shifts the multiple positioning points Pk by three times the shift width, i.e., shifts the third created point Q3k inward by the shift width to generate a fourth created point Q4k.

[0059] 9, the second generating unit 53c generates a plurality of connection lines VLni (n: number of headlands [number of laps], n=1, 2, 3...n, i: each connection line, i=1, 2, 3...i) that pass through the plurality of creation points Qnk generated by the first generating unit 53b and serve as a reference for the route of the circuit line Ln. The second generating unit 53c generates the plurality of connection lines VLni by connecting adjacent creation points Qnk among the plurality of creation points Qnk.

[0060] The second generating unit 53c generates a connection line VLni that passes through the creation points Qnk for each headland number. That is, when the headland number is 4, the second generating unit 53c generates a connection line VLni (the first connection line VL1i to the fourth connection line VL4i) that passes through the first creation point Q1k to the fourth creation point Q4k, respectively, and when the headland number is 5, the second generating unit 53c generates a connection line VLni (the first connection line VL1i to the fifth connection line VL5i) that passes through the first creation point Q1k to the fifth creation point Q5k, respectively.

[0061] The second generating unit 53c calculates a connection line VLni (i=k in this embodiment) that connects the created point Qnk and the created point Qnk+1 adjacent to the created point Qnk. Here, the adjacent created point Qnk+1 is the created point Qnk that is adjacent in the same headland number (circumference) as the created point Qnk. For example, as shown in FIG. 9, the second generating unit 53c calculates a connection line VL11 that connects the created point Q11 and the created point Q12 adjacent to the created point Q11. In addition, the second generating unit 53c calculates a connection line VL22 that connects the created point Q22 and the created point Q23 adjacent to the created point Q22.

[0062] In this embodiment, the connection line VLni is a straight line connecting adjacent creation points Qnk, but the connection line VLni may be any curve as long as it connects adjacent creation points Qnk.

[0063] As shown in Fig. 6A, the third generation unit 53d sets the headland area A1 and the inner area A2 based on the innermost connection line VLni. Specifically, for example, the third generation unit 53d shifts the innermost connection line VLni inward by 1 / 2 the shift width to create an inner boundary line C2 that is the boundary M between the headland area A1 and the inner area A2. The third generation unit 53d sets the area surrounded by the inner boundary line C2 as the inner area A2, and sets the area surrounded by the outer boundary line C1 and the inner boundary line C2 as the headland area A1.

[0064] As shown in FIG. 6A, the work point setting unit 53e sets the work point Rn (n: headland number [number of laps], n=1, 2, 3, n) relating to a work boundary of the work implement 2. The work point Rn is one of a work start point, a work end point, a temporary stop point, and a work preparation point of the work implement 2, and is, for example, a point that is a boundary of work when the tractor 1 moves from the circumferential line Ln on which the tractor 1 is currently located to the outside of the field H or an adjacent circumferential line Ln. The work point setting unit 53e sets the work point Rn so that the work implement 2 works efficiently based on the positional relationship between the entrance / exit I of the field H, the connection line VLni, and the creation point Qnk, which are set in advance on the setting screen D2 or the like. Note that the method of setting the work point Rn is not limited to the above-mentioned method, and a configuration may be adopted in which an arbitrary positioning point Pk can be selected on the setting screen D2, and the work point Rn is set from the selected information.

[0065] The direction acquisition unit 53f acquires the direction (travel direction) in which the tractor 1 travels on the circuit line Ln. The travel direction is either clockwise or counterclockwise when the field F is viewed in a plan view. For example, the direction acquisition unit 53f acquires the travel direction based on the entrance / exit I and work point Rn of the field H that are set in advance on the setting screen D2 or the like, and a predetermined judgment criterion X. In such a case, the direction acquisition unit 53f acquires the travel direction based on the direction from the outermost work point Rn toward the entrance / exit I of the field H.

[0066] For example, in the case shown in Fig. 6A, the entrance I of the field H is located at the bottom right of the page, and the working point Rn of the first circular line L1 is located below the entrance I on the page, so the traveling direction is counterclockwise. Note that the method of acquiring the traveling direction is not limited to the above-mentioned method, and it is also possible to select and input clockwise or counterclockwise as the traveling direction in the setting screen D2, and acquire the traveling direction from the input information.

[0067] 6A and 6B, the fourth generating unit 53g generates a plurality of unit work sections (outer work sections) A3 that correspond to the connection line VLni and have the same width as the shift width within the headland area A1. The fourth generating unit 53g generates a pair of boundaries M that are spaced apart on one side and the other side of the intersecting direction of the connection line VLni and are parallel to the connection line VLni, using the connection line VLni as a reference.

[0068] The length between the pair of boundaries M and the connection line VLni is half the shift width, and the length between the pair of boundaries M is the same as the shift width. That is, as shown in FIG. 6B, the outer work section A3 is an endless band-shaped area, and the connection line VLni passes through the center in the width direction. The outer work sections A3 are arranged adjacent to each other for each number of headlands. In this way, the fourth generation unit 53g creates multiple outer work sections A3 surrounded by a pair of boundaries M.

[0069] When the number of headlands is four, the fourth generation unit 53g creates outer work sections A3 (first outer section E11 to fourth outer section E14) corresponding to each of the first connection line VL1i to fourth connection line VL4i, and when the number of headlands is five, the fourth generation unit 53g creates outer work sections A3 (first outer section E11 to fifth outer section E15) corresponding to each of the first connection line VL1i to fifth connection line VL5i.

[0070] As shown in FIG. 6A and FIG. 6B, the fifth generating unit 53h generates an inner line LU in the inner area (inner area) A2 of the headland A1. The fifth generating unit 53h generates the inner line LU based on the working point Rn of the innermost connection line VLni among the working points Rn set by the working point setting unit 53e, for example. Specifically, as shown in FIG. 6A and FIG. 6B, the fifth generating unit 53h sets the straight line portion LU1 connecting both ends in the longitudinal direction as the inner line LU. In addition, the fifth generating unit 53h generates the curved portion LU2 as the inner line LU by connecting adjacent straight line portions LU1 in the headland area A1. When the tractor 1 moves through the straight line portion LU1 and reaches the curved portion LU2, the control device 60 controls the lifting device 8 to lift the working device 2 and transition to a non-working posture. Furthermore, when the tractor 1 travels along the curved section LU2 and reaches the straight section LU1, the control device 60 controls the lifting device 8 to lower the working implement 2 and transition to the working posture.

[0071] As shown in FIG. 6A and FIG. 6B, the sixth generating unit 53i generates a plurality of unit work sections (inner work sections) A4 in the inner area A2, each of which corresponds to the straight line section LU1 and has the same width as the shift width. The fifth generating unit 53h generates a pair of boundaries m that are spaced apart from one side and the other side of the straight line section LU1 in the crossing direction and parallel to the straight line section LU1, using the straight line section LU1 as a reference. Specifically, the length between the pair of boundaries m and the straight line section LU1 is half the length of the shift width, and the length between the pair of boundaries m is the same as the shift width. That is, as shown in FIG. 6B, the inner work section A4 is a band-shaped area extending from one end side to the other end side of the field H, with the straight line section LU1 passing through the center in the width direction. In this way, the sixth generating unit 53i generates a plurality of inner work sections A4 surrounded by the pair of boundaries m and the inner boundary line C2.

[0072] 1, the travel support system S of the tractor 1 includes a reference creation unit 53j, a sequence acquisition unit 53k, an area discrimination unit 53l, and a first setting unit 53m, and corrects a plurality of connection lines VLni created by the second creation unit 53c, thereby allowing the tractor 1 to avoid traveling in an area e2 where entry is prohibited, and travel along a traveling line L around the field H to perform work efficiently. In this embodiment, the line creation unit 52d includes the reference creation unit 53j, the sequence acquisition unit 53k, the area discrimination unit 53l, and the first setting unit 53m, and the reference creation unit 53j, the sequence acquisition unit 53k, the area discrimination unit 53l, and the first setting unit 53m are composed of, for example, electric and electronic components, a program incorporated in the display device 50, and the like.

[0073] As shown in FIG. 10, the reference creation unit 53j creates a judgment criterion X that is located in front of the tractor 1 and judges the turning of the tractor 1 based on the position of the tractor 1 detected by the position detection device 40. In detail, as shown in FIG. 10, the reference creation unit 53j creates a judgment criterion X in a position in front of the tractor 1 and outside the outer circumference CT of the turning trajectory of the tractor 1. In addition, the judgment criterion X is a virtual line x that extends from the position of the tractor 1 detected by the position detection device 40 to the front of the tractor 1. In other words, the base end of the virtual line x coincides with the position of the tractor 1 and extends forward through the front of the tractor 1. The length Y1 from the front of the tractor 1 to the tip of the virtual line x is approximately twice the length of the working width W1 of the working device 2.

[0074] That is, as shown in Fig. 10, in the case where the tractor 1 is located at a predetermined first position p1 and turns 90 degrees from the first position p1 to move to the second position p2, the length Y1 from the front of the tractor 1 to the judgment criterion X is longer than the minimum turning radius Y2 of the outer periphery CT of the turning trajectory of the tractor 1, and the tractor 1 is located on the first position p1 side of the tip of the virtual line x at the first position p1. That is, the tractor 1 turns behind the judgment criterion X at the first position p1.

[0075] In addition, the judgment criterion X is not limited to the virtual line x, but may be any criterion for judging the distance between the tractor 1 and any point located in front of the tractor 1, the outer boundary line C1, the inner boundary line C2, the boundary M, and an area, etc., and may be a point located in front of the tractor 1 or an area of ​​any shape (detection area).

[0076] The sequence acquisition unit 53k acquires the sequence of the unit work sections A3, A4 through which the tractor 1 actually moves to perform work. The sequence acquisition unit 53k acquires the sequence of the unit work sections A3, A4 through which the tractor 1 moves based on information previously set on the setting screen D2 or a predetermined rule previously stored in the memory unit 54. For example, the memory unit 54 stores a rule such as moving from the innermost unit work section (inner work section) A4 to the outermost unit work section (first outer section E11) in sequence. To explain an example of setting the sequence of the unit work sections A3, A4 through which the tractor 1 moves on the setting screen D2, the unit work sections A3, A4 displayed on the display unit 51 can be selected in any order by operating the display device 50. For example, when the number of headlands is four, the unit work sections A3, A4 can be selected in the order of the inner work section A4, the fourth outer section E14, the second outer section E12, the third outer section E13, and the first outer section E11.

[0077] The area discrimination unit 53l discriminates between a first area e1 and a second area e2. The first area e1 is an area of ​​the field H where the tractor 1 moves around in a predetermined circular direction and where the working implement 2 performs work. The second area e2 is an area of ​​the field H adjacent to the first area e1 and where the tractor 1 is prohibited from entering in advance, for example, a unit work section (already cultivated land) of the field H where the working implement 2 has completed work. Note that the second area e2 may be any area where the tractor 1 is prohibited from entering in advance, and is not limited to already cultivated land, and may be, for example, an area where obstacles such as ponds and rocks are formed in the field H.

[0078] Furthermore, the area discrimination unit 53l discriminates a third area e3 in addition to the first area e1 and the second area e2. The third area e3 is an area of ​​the field H that is adjacent to the first area e1 and into which the tractor 1 is permitted to enter in advance. The third area e3 is, for example, a unit work section (uncultivated land) of the field H in which the work implement 2 is not performing work. The third area e3 may be a road on the periphery of the field H or an adjacent field H. The first area e1 to the third area e3 are set based on the order of the unit work sections A3, A4 acquired by the order acquisition unit 53k.

[0079] When the judgment criterion X is located in the second area e2, the first setting unit 53m sets a first turning section CR1 between the tractor 1 and the second area e2 and in the first area e1 where the tractor 1 turns, and corrects the connection line VLni. When the judgment criterion X is located in the third area e3, the first setting unit 53m sets a second turning section CR2 in front of the tractor 1 and in the third area e3 where the tractor 1 turns, and corrects the connection line VLni. In this embodiment, the first turning section CR1 and the second turning section CR2 include at least a path on which the tractor 1 turns. Specifically, as shown in FIG. 11A to FIG. 14, the first turning section CR1 and the second turning section CR2 include a path on which the tractor 1 turns and a path on which the tractor 1 retreats.

[0080] The first setting unit 53m sets the first turning section CR1 and the second turning section CR2, and corrects the connection between the connection line VLni (first line VLni-1) and the connection line VLni (second line VLni) that is connected to the first line VLni-1 and is on the traveling direction side of the first line VLni-1, thereby re-setting the path along which the tractor 1 turns.

[0081] In detail, when the first boundary M1, which is the boundary M between the first area e1 and the second area e2, intersects with the virtual line x, the first setting unit 53m sets the first turning section CR1 in the first area e1, between the tractor 1 and the second area e2, and at a position away from the second area e2 by at least the turning radius Y2 of the agricultural machine 1. When the second boundary M2, which is the boundary M between the first area e1 and the third area e3, intersects with the virtual line x, the first setting unit 53m sets the second turning section CR2 in front of the tractor 1 and in the third area e3. As shown in FIG. 11A and FIG. 11B, the first turning section CR1 is a path along which the tractor 1 moves within the first area e1 without entering the second area e2. As shown in Figures 13A and 13B, the second turning section CR2 is a route along which the tractor 1 enters the third area e3 and turns so that there are no remaining sections (sections where the work implement 2 does not work) ERn (n: number of headlands [number of laps], n = 1, 2, 3, ... n) in the first area e1.

[0082] Specifically, the first setting unit 53m performs a simulation in which the judgment criterion X (virtual line x) is moved in the traveling direction along the connection line VLni corresponding to each unit work section based on the order of the unit work sections acquired by the order acquisition unit 53k and the direction (travel direction) acquired by the direction acquisition unit 53f, and detects whether the connection line VLni intersects with the boundary M (first boundary M1 and second boundary M2) when the connection line VLni is moved based on the area (unit work section) determined by the area determination unit 53l.

[0083] Below, the correspondence between the first area e1 to the third area e3 will be explained using an example in which the number of headlands is 4 and the sequence acquisition unit 53k acquires the unit work sections in the order of inner work section A4, fourth outer section E14, third outer section E13, second outer section E12, and first outer section E11.

[0084] First, the first setting unit 53m associates the fourth outer section E14 as the first area e1, the inner working section A4 as the second area e2, and the third outer section E13 as the third area e3. Since the fourth outer section E14, which is the first area e1, is located between the second area e2 and the third area e3, the first setting unit 53m sets the second turning section CR2 in the fourth outer section E14, and sets the first turning section CR1 according to the shape of the fourth outer section E14.

[0085] Next, the first setting unit 53m corresponds the third outer section E13 as the first area e1, the fourth outer section E14 as the second area e2, and the second outer section E12 as the third area e3. Since the third outer section E13, which is the first area e1, is located between the second area e2 and the third area e3, the first setting unit 53m sets the second turning section CR2 to the third outer section E13, and sets the first turning section CR1 according to the shape of the third outer section E13.

[0086] Further, the first setting unit 53m corresponds the second outer section E12 as the first area e1, corresponds the third outer section E13 as the second area e2, and corresponds the first outer section E11 as the third area e3. Since the second outer section E12, which is the first area e1, is located between the second area e2 and the third area e3, the first setting unit 53m sets the second turning section CR2 to the second outer section E12, and sets the first turning section CR1 according to the shape of the second outer section E12.

[0087] The first setting unit 53m associates the first outer section E11 as the first area e1 and the second outer section E12 as the second area e2. Since the first outer section E11, which is the first area e1, is located outside the second area e2, the first setting unit 53m sets the first turning section CR1 according to the shape of the first outer section E11.

[0088] In addition, below, the correspondence between the first area e1 to the third area e3 when the first setting unit 53m sets the first turning section CR1 and the second turning section CR2 will be explained using an example in which the number of headlands is 4 and the sequence acquisition unit 53k acquires the unit work sections in the order of the inner work section A4, the fourth outer section E14, the second outer section E12, the third outer section E13, and the first outer section E11.

[0089] First, the first setting unit 53m associates the fourth outer section E14 as the first area e1, the inner working section A4 as the second area e2, and the third outer section E13 as the third area e3. Since the fourth outer section E14, which is the first area e1, is located between the second area e2 and the third area e3, the first setting unit 53m sets the second turning section CR2 in the fourth outer section E14, and sets the first turning section CR1 according to the shape of the fourth outer section E14.

[0090] Next, the first setting unit 53m corresponds the second outer section E12 as the first area e1, and corresponds the third outer section E13 and the first outer section E11 as the third area e3. Since the second outer section E12, which is the first area e1, is located between the third area e3 and the third area e3, the first setting unit 53m sets the second turning section CR2 to the second outer section E12.

[0091] Further, the first setting unit 53m corresponds the third outer section E13 as the first area e1, and corresponds the fourth outer section E14 and the second outer section E12 as the second area e2. Since the third outer section E13, which is the first area e1, is located between the second area e2 and the second area e2, the first setting unit 53m sets the first turning section CR1 according to the shape of the third outer section E13.

[0092] The first setting unit 53m associates the first outer section E11 as the first area e1 and the second outer section E12 as the second area e2. Since the first outer section E11, which is the first area e1, is located outside the second area e2, the first setting unit 53m sets the first turning section CR1 to the first outer section E11.

[0093] 11A and 11B, the setting of the first turning section CR1 by the first setting unit 53m will be described using an example in which the judgment criterion X moves along one connection line (first line) VLni-1 corresponding to the first area e1 and the judgment criterion X is located in the second area e2, that is, the virtual line x intersects with the first boundary M1. When the first setting unit 53m moves the judgment criterion X along the first line VLni-1 and the virtual line x intersects with the first boundary M1, the first setting unit 53m sets the first turning section CR1 on the virtual line x at the vehicle body position VP (first starting point s1) where the virtual line x intersects with the first boundary M1. The start point of the first turning section CR1 coincides with the first starting point s1, and the first turning section CR1 includes a path along which the tractor 1 turns from the first starting point s1 in the opposite direction to the traveling direction.

[0094] 11A, the traveling direction acquired by the direction acquisition unit 53f is counterclockwise, and the first setting unit 53m associates the third outer section E13 as the first area e1, the fourth outer section E14 as the second area e2, and the second outer section E12 as the third area e3. In this case, the first setting unit 53m sets the first turning section CR1 including a right turning route.

[0095] 11B, the traveling direction acquired by the direction acquisition unit 53f is clockwise, and the first setting unit 53m associates the third outer section E13 as the first area e1, the fourth outer section E14 as the second area e2, and the second outer section E12 as the third area e3. In this case, the first setting unit 53m sets the first turning section CR1 including a left turning route.

[0096] Of the controls of the tractor 1 and the lifting device 8 by the automatic travel control unit 61, the control on the path of the first rotating unit CR1 will be described in detail with reference to FIG. 12A as an example. When the tractor 1 passes the first starting point s1 and starts turning based on the first rotating unit CR1, the automatic travel control unit 61 first stops the movement of the tractor 1 and controls the lifting device 8 to raise the working device 2 and move it to a non-working posture. When the lifting device 8 moves to a non-working posture and interrupts the work, the automatic travel control unit 61 turns the tractor 1 along the turning path of the first rotating unit CR1 and moves it to the first area e1 corresponding to the second line V3ni. When the tractor 1 moves along the second line V3ni, the automatic travel control unit 61 moves the tractor 1 backward. When the tractor 1 moves backward and the rear end of the working implement 2 coincides with the rear boundary M of the tractor 1, the automatic driving control unit 61 stops the tractor 1 and controls the lifting device 8 to lower the working implement 2 and transition to the working posture. When the lifting device 8 transitions to the working posture, the automatic driving control unit 61 moves the tractor 1 along the second line VL3i and resumes work.

[0097] Therefore, as shown in Figures 11A and 11B, when the first setting unit 53m sets the first turning section CR1 and corrects the connection line VLni, the tractor 1 can move from the first area e1 corresponding to one connection line (first line) VLni-1 to the first area e1 corresponding to the next connection line (second line) VLni without entering the second area e2.

[0098] On the other hand, as shown in Fig. 12A, the tractor 1 temporarily stops working when turning, so a section (remaining section) ERn is generated in the first area e1 where the working implement 2 does not work. In such a case, for example, as shown in Fig. 12B, when a remaining section ER3 is generated in the third outer section E13, the first setting unit 53m sets a first turning section CR1 in the outer working section A3 (second outer section E12) that performs at least a part of the work of the remaining section ER3.

[0099] Specifically, the first setting unit 53m associates the second outer section E12 with the first area e1, and sets the first turning section CR1 so that the tractor 1 turns and moves from the first line VL2i-1 to the second line VL2i of the second outer section E12, and the work implement 2 retreats to the remaining section ER3. Note that the remaining section ERn that occurs when working on the outermost outer working section A3 may be worked on by the worker by manually operating the tractor 1.

[0100] Next, the setting of the second turning section CR2 by the first setting unit 53m will be described with reference to FIG. 13A and FIG. 13B, taking as an example a case where the judgment criterion X moves along one connection line (first line) VLni-1 and the judgment criterion X is located in the third area e3, that is, a case where the virtual line x intersects with the second boundary M2. When the first setting unit 53m moves the judgment criterion X along the first line VLni-1 and the virtual line x intersects with the second boundary M2, the first setting unit 53m sets the second turning section CR2. Specifically, as shown in FIG. 13A, the first setting unit 53m sets the second turning section CR2 at the vehicle body position VP (second starting point s2) when the boundary M on the opposite side to the second boundary M2 of the boundary M corresponding to the second line VL3i coincides with the front end of the working implement 2. The second turning section CR2 includes a path that turns from the second starting point s2 toward the traveling direction.

[0101] 13A, the traveling direction acquired by the direction acquisition unit 53f is counterclockwise, and the first setting unit 53m associates the third outer section E13 as the first area e1, the fourth outer section E14 as the second area e2, and the second outer section E12 as the third area e3. In this case, the first setting unit 53m sets the second turning section CR2 including the left turning route.

[0102] 13B, the traveling direction acquired by the direction acquisition unit 53f is clockwise, and the first setting unit 53m associates the third outer section E13 as the first area e1, the fourth outer section E14 as the second area e2, and the second outer section E12 as the third area e3. In this case, the first setting unit 53m sets the second turning section CR2 including a right turning route.

[0103] Among the controls of the tractor 1 and the lifting device 8 by the automatic travel control unit 61, the control on the path of the second rotating unit CR2 will be described in detail with reference to FIG. 14 as an example. When the tractor 1 enters the third area e3 (the second outer section E12) and the tractor 1 is located at the second starting point s2, the automatic travel control unit 61 stops the movement of the tractor 1 and controls the lifting device 8 to raise the working device 2 and transition to a non-working posture. When the lifting device 8 transitions to a non-working posture and interrupts the work, the automatic travel control unit 61 turns the tractor 1 in the forward direction along the path of the rotation of the second rotating unit CR2 and turns the tractor 1 while passing through the second boundary M2. When the tractor 1 turns and the rear end of the working device 2 moves to a position that coincides with the rear boundary M, the automatic travel control unit 61 stops the tractor 1. When the tractor 1 stops, the automatic travel control unit 61 controls the lifting device 8 to lower the working device 2 and transition to a working posture. When the lifting device 8 transitions to the working posture, the automatic travel control unit 61 moves the tractor 1 along the second line VL3i and resumes work.

[0104] Therefore, when the first setting unit 53m sets the second turning unit CR2, the tractor 1 can enter and move into the third area e3 when moving from the first line VLni-1 to the second line VLni, and the work implement 2 can perform work without creating a remaining section ERn.

[0105] The second setting unit 53n extracts a pair of predetermined connection lines VLni-1, VLni that are adjacent to each other, extend in different directions, and have an angle θnk that is equal to or greater than a judgment value from among the multiple connection lines VLni, and extracts a creation point Qnk common to the extracted pair of predetermined connection lines VLni-1, VLni as a candidate for the turning portion QT. The turning portion QT is a portion at which the automatic driving control unit 61 turns the tractor 1. The second setting unit 53n extracts the turning portion QT from among the extracted candidates, except for the creation point Qnk at the position where the first turning portion CR1 and the second turning portion CR2 are set, and sets the turning portion QT to the creation point Qnk that is a candidate for the turning portion QT.

[0106] Here, the creation point Qnk common to the pair of connection lines VLni-1, VLni is the common creation point Qnk among the creation points Qnk-1 and Qnk connected by the connection line VLni-1, and the creation points Qnk and Qnk+1 connected by the connection line VLni. For example, as shown in Figures 15A and 15B, the creation point Qnk common to the pair of connection lines VL11, VL12 is the common creation point Q12 among the creation points Q11 and Q12 connected by the connection line VL11, and the creation points Q12 and Q13 connected by the connection line VL12.

[0107] The turning section QT is a section where the tractor 1 enters the third area e3 side from the first area e1 and performs a turning operation without entering the second area e2 side. For example, as shown in FIG. 15B, in a case where the turning section QT is set at the creation point Q12, when the tractor 1 moves along the connection line VL11 and reaches the start point of the turning section QT, the automatic traveling control unit 61 stops the tractor 1 and raises the lifting device 8 to transition to a non-working posture. When transitioning to a non-working posture, the automatic traveling control unit 61 repeats right-turn forward and left-turn backward movements of the tractor 1 through the first area e1, the second boundary M2, and the third area e3 so as to approach the connection line VL12.

[0108] In this embodiment, the judgment value is 20 degrees. When there are a plurality of pairs of connection lines VLni-1, VLni, as shown in Fig. 15A, the second setting unit 53n checks whether or not the exterior angle θnk (n: number of headlands [number of turns], n = 1, 2, 3...n, k: each creation point Qnk, k = 1, 2, 3...k) formed by the pair of connection lines VLni-1, VLni is equal to or greater than a predetermined judgment value, extracts a predetermined pair of connection lines VLni-1, VLni whose exterior angle θnk is equal to or greater than 20 degrees, and extracts a creation point Qnk common to the extracted predetermined pair of connection lines VLni-1, VLni as a candidate for a turning point QT.

[0109] That is, in the example shown in FIG. 15A, since there is no pair of connection lines VLni-1, VLni that form an exterior angle θnk of 20 degrees or more, the second setting unit 53n does not set the turning point QT. On the other hand, in the example shown in FIG. 15B, the exterior angle θ12 formed by the pair of connection lines VL11, VL12 is 20 degrees or more, and the common creation point Qnk is extracted as a candidate for the turning point QT. In this case, since the first turning point CR1 and the second turning point CR2 are not set as the candidates (creation points Qnk) for the turning point QT, the second setting unit 53n sets it as the turning point QT. Note that, although the judgment value is 20 degrees in this embodiment, the judgment value may be in the range of 15 degrees to 25 degrees, and the value is not limited to the above-mentioned value.

[0110] The first setting unit 53m sets the first turning section CR1 and the second turning section CR2, and the second setting unit 53n sets the switching section QT on the connecting line VLni, which is created as a circuit line Ln for each headland number, and the circuit line Ln and the inside line LU are stored in the memory unit 54 as the traveling line L. At least the circuit line Ln of the traveling lines L stored in the memory unit 54 is displayed in the route display area 114 of the setting screen D2.

[0111] In the above-described embodiment, the first setting unit 53m sets the first turning section CR1 and the second turning section CR2, and the tractor 1 automatically travels along the traveling line L (circulation line Ln) based on the connection line VLni corrected by the first setting unit 53m. However, the first setting unit 53m may simply set the first turning section CR1 and the second turning section CR2 based on the judgment criterion X and the first area e1 to the third area e3, and the tractor 1 may be configured to autonomously travel in the field H and turn based on the first turning section CR1 and the second turning section CR2.

[0112] 17, the tractor 1 includes an information acquisition unit 81 that acquires information such as images and sounds around the tractor 1, and an autonomous driving control unit 82 that autonomously controls the tractor 1 and the lifting device 8 based on the information acquired by the information acquisition unit 81. In this case, the tractor 1 includes an imaging device 84 that captures images of the surroundings, and the control device 60 also serves as the information acquisition unit 81, and acquires the images captured by the imaging device 84.

[0113] The autonomous traveling control unit 82 is shared by the control device 60 and includes a reference creation unit 83a, an area discrimination unit 83b, and a first setting unit 83c. In detail, the reference creation unit 83a of the autonomous traveling control unit 82 creates (projects) a virtual judgment reference X (virtual line x) in front of the tractor 1 in, for example, an image in front of the tractor 1 (forward image) among the surrounding images captured by the imaging device 84. The area discrimination unit 83b of the autonomous traveling control unit 82 analyzes the forward image, discriminates the first area e1 to the third area e3 based on the position of the tractor 1 detected by the position detection device 40 and the analysis result, and creates (projects) a first boundary M1, which is the boundary M between the first area e1 and the second area e2, and a second boundary M2, which is the boundary M between the first area e1 and the third area e3, on the forward image.

[0114] The first setting unit 83c sets the first turning section CR1 and the second turning section CR2 based on the positional relationship between the judgment criterion X projected onto the forward image and the boundary M. The autonomous driving control unit 82 turns the tractor 1 at the first turning section CR1 and the second turning section CR2 based on the analysis result of the captured image and the position of the tractor 1 detected by the position detection device 40.

[0115] The travel support system S for the agricultural machine 1 includes a position detection device 40 for detecting the position of the agricultural machine 1 to which the working implement 2 can be attached, a criterion creation unit 53j for creating a judgment criterion X located in front of the agricultural machine 1 and for judging the turning of the agricultural machine 1 based on the position of the agricultural machine 1 detected by the position detection device 40, an area discrimination unit 53l for discriminating between a first area e1, which is an area in the field H where the agricultural machine 1 rotates in a predetermined circling direction and where the working implement 2 performs work, and a second area e2, which is adjacent to the first area e1 in the field H and where the agricultural machine 1 is prohibited from entering in advance, and a first setting unit 53m for setting a first turning section CR1 between the agricultural machine 1 and the second area e2 and in which the agricultural machine 1 turns in the first area e1 when the judgment criterion X is located in the second area e2. According to the above configuration, the agricultural machine 1 turns in the first area e1 without entering the second area e2, and can perform work efficiently.

[0116] Furthermore, the judgment criterion X is a virtual line x extending forward of the agricultural machine 1 from the position of the agricultural machine 1 detected by the position detection device 40, and when the virtual line x intersects with the first boundary M1, which is the boundary M between the first area e1 and the second area e2, the first setting unit 53m sets the first turning section CR1 in the first area e1 between the agricultural machine 1 and the second area e2. According to the above configuration, even if the resolution of the first setting unit 53m is relatively low, the first setting unit 53m can reliably detect that the judgment criterion X is located in the second area e2. This makes it possible to further prevent the agricultural machine 1 from entering the second area e2.

[0117] Furthermore, the area discrimination unit 53l discriminates a third area e3 that is adjacent to the first area e1 and into which the agricultural machine 1 is permitted to enter from among the first area e1, the second area e2, and the field H, and when the judgment criterion X is located in the third area e3, the first setting unit 53m sets a second turning section CR2 in front of the agricultural machine 1 and into the third area e3, where the agricultural machine 1 turns. According to the above configuration, the agricultural machine 1 turns while entering the third area e3, thereby reducing areas where work has not been completed, such as the ends of the first area e1, and thereby can efficiently perform work in the first area e1.

[0118] Further, the judgment criterion X is a virtual line x extending from the position of the agricultural machine 1 detected by the position detection device 40 to the front of the agricultural machine 1, and when the virtual line x intersects with the first boundary M1, which is the boundary M between the first area e1 and the second area e2, the first setting unit 53m sets the first turning section CR1 between the agricultural machine 1 and the second area e2 and in the first area e1, and when the virtual line x intersects with the second boundary M2, which is the boundary M between the first area e1 and the third area e3, the first setting unit 53m sets the second turning section CR2 in front of the agricultural machine 1 and in the third area e3. According to the above configuration, even if the resolution of the first setting unit 53m is relatively low, the first setting unit 53m can reliably detect that the judgment criterion X is located in the second area e2 or the third area e3. This can improve the accuracy of the setting of the first turning section CR1 and the second turning section CR2 by the first setting unit 53m, and can efficiently perform the work in the first area e1.

[0119] Furthermore, the length from the front of the agricultural machine 1 to the tip of the imaginary line x is approximately twice the working width W1 of the working implement 2. With the above configuration, it is possible to prevent the tip of the imaginary line x from intersecting with the first boundary M1 or the second boundary M2 other than the first boundary M1 and the second boundary M2 in front of the agricultural machine 1. This makes it possible to improve the setting accuracy of the first turning section CR1 and the second turning section CR2 by the first setting section 53m.

[0120] Moreover, the second area e2 is an area of ​​the field H where the work implement 2 has completed work. According to the above configuration, it is possible to prevent the agricultural machine 1 from entering an area where work has been completed (already cultivated land) and damaging the already cultivated land, thereby improving work efficiency.

[0121] The driving support system S of the agricultural machine 1 also includes a position acquisition unit 52a capable of acquiring multiple positioning points Pk of the agricultural machine 1 detected by the position detection device 40, a field F indicating the farm field H, a display device 50 capable of displaying multiple creation points Qnk based on the positioning points Pk on the field F, and a line generation unit 52d that creates a circular driving line L that passes through the multiple creation points Qnk. The line generation unit 52d has a line generation unit 52d that creates multiple connection lines VLni, which are straight lines connecting adjacent creation points Qnk at the multiple creation points Qnk, among the driving line L, and a second setting unit 53n that extracts a specific pair of connection lines VLni-1, VLni from the multiple connection lines VLni that are adjacent, have different extension directions, and form an angle θnk that is equal to or greater than a judgment value, and sets a turning section QT where the agricultural machine 1 performs a turning operation at a creation point Qnk common to the extracted specific pair of connection lines VLni-1, VLni. According to the above configuration, even if the turning of the agricultural machine 1 is restricted by the working implement 2 performing work and the agricultural machine 1 is unable to turn sufficiently to trace the connection line VLni, the agricultural machine 1 can travel along the connection line VLni by turning at the turning section QT. This allows the agricultural machine 1 to properly perform work even in the field H, which has a relatively complex external shape.

[0122] Furthermore, the reference creation unit 53j creates a judgment criterion X at a position in front of the agricultural machine 1 and outboard of the outer periphery CT of the turning trajectory of the agricultural machine 1. According to the above configuration, the first setting unit 53m sets the first turning section CR1 at a position between the agricultural machine 1 and the second area e2 and away from the second area e2 by at least the turning radius Y2 of the agricultural machine 1. This more reliably prevents the agricultural machine 1 from entering the second area e2, and enables the agricultural machine 1 to turn in the first area e1.

[0123] Moreover, the agricultural machine 1 is equipped with a driving support system S for the agricultural machine 1. According to the above configuration, it is possible to realize the agricultural machine 1 that provides the above-mentioned excellent effects.

[0124] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0125] 1. Tractor (agricultural machinery) 2. Working Equipment 50 Display device 52a Position acquisition part 52d Line Generation Section 53j Standards Creation Department 53l Area discrimination section 53m First Setting Section 53n Second Setting Section CR1 First turning section CR2 2nd turning section CT turning trajectory e1 1st Area e2 Area 2 e3 Third Area F Field H Field M boundary M1 1st boundary M2 2nd boundary Pk Positioning point QT Switching section Qnk creation point Rn work point S Driving Assistance System Y2 turning radius VLni Connection Line X Judgment criteria x Virtual line θnk exterior angle

Claims

1. a position detection device that detects the position of an agricultural machine to which a working implement can be attached; a criterion creating unit that is located in front of the agricultural machine and creates a criterion for determining whether the agricultural machine is turning based on the position of the agricultural machine detected by the position detection device; an area discrimination unit that discriminates between a first area of ​​the field, which is an area in which the agricultural machine moves in a predetermined circular direction and in which the working implement performs work, a second area of ​​the field that is adjacent to the first area and into which the agricultural machine is prohibited from entering, and a third area of ​​the field that is adjacent to the first area and into which the agricultural machine is permitted to enter; a first setting unit that sets a first turning section, around which the agricultural machine turns, between the agricultural machine and the second area and in the first area, when the judgment criterion is located in the second area, and sets a second turning section, around which the agricultural machine turns, in front of the agricultural machine and in the third area, when the judgment criterion is located in the third area; A driving assistance system for agricultural machinery.

2. the judgment criterion is a virtual line extending forward from the position of the agricultural machine detected by the position detection device, The first setting unit is When a first boundary, which is a boundary between the first area and the second area, intersects with the virtual line, the first turning portion is set between the agricultural machine and the second area and in the first area, The agricultural machine driving assistance system of claim 1, wherein when a second boundary, which is the boundary between the first area and the third area, intersects with the virtual line, the second turning section is set in front of the agricultural machine and in the third area.

3. 3. The agricultural machine travel assistance system according to claim 2, wherein a length from a front part of the agricultural machine to a tip of the imaginary line is approximately twice a working width of the working implement.

4. A position detection device for detecting the position of an agricultural machine to which a working implement can be attached; a criterion creating unit that is located in front of the agricultural machine and creates a criterion for determining whether the agricultural machine is turning based on the position of the agricultural machine detected by the position detection device; an area discrimination unit that discriminates between a first area, which is an area of ​​the farm field where the agricultural machine moves in a predetermined circular direction and where the working implement performs work, and a second area, which is adjacent to the first area of ​​the farm field and into which the agricultural machine is prohibited in advance; a first setting unit that sets a first turning section, which is between the agricultural machine and the second area and is in the first area when the judgment criterion is located in the second area, and through which the agricultural machine turns; Equipped with The second area is an area of ​​the field where the work implement has completed work.

5. A position detection device for detecting the position of an agricultural machine to which a working implement can be attached; a position acquisition unit capable of acquiring a plurality of positioning points of the agricultural machine detected by the position detection device; a display device capable of displaying a field indicating a farm field and a plurality of created points based on the positioning points on the field; a line generation unit that generates a traveling line for a circuit that passes through the plurality of generation points; Equipped with The line generating unit a connection line generating unit that generates a plurality of connection lines that are straight lines connecting adjacent creation points among the plurality of creation points on the traveling line; a criterion creating unit that is located in front of the agricultural machine and creates a criterion for determining whether the agricultural machine is turning based on the position of the agricultural machine detected by the position detection device; an area discrimination unit that discriminates between a first area of ​​the field, which is an area in which the agricultural machine moves in a predetermined circular direction and where the working implement performs work, and a second area of ​​the field that is adjacent to the first area and into which the agricultural machine is prohibited from entering; a first setting unit that sets a first turning section, which is between the agricultural machine and the second area and is in the first area when the judgment criterion is located in the second area, and through which the agricultural machine turns; a second setting unit that extracts a pair of adjacent connection lines from the plurality of connection lines, the pair of connection lines being adjacent to each other and extending in different directions and forming an angle equal to or larger than a determination value, and sets a turning section at the creation point common to the extracted pair of connection lines, where the agricultural machine performs a turning operation; A driving assistance system for agricultural machinery.

6. The agricultural machine travel assistance system according to any one of claims 1 to 5, wherein the reference creation unit creates the judgment reference at a position in front of the agricultural machine and outside an outer periphery of a turning trajectory of the agricultural machine.

7. An agricultural machine comprising the agricultural machine travel support system according to any one of claims 1 to 6.

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